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Merged
merged 6 commits into from
Aug 6, 2020
Merged

Added ability to configure accelerometer #51

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26083c0
Added ability to configure accelerometer
evaherrada Jun 30, 2020
1817019
Added support for setting other sensors
evaherrada Jul 16, 2020
e9e0cd6
Formatted
evaherrada Jul 16, 2020
3df8b6c
Sensor config setters now switch back to page 0
evaherrada Jul 21, 2020
dc69390
Changed return type to int
evaherrada Jul 22, 2020
8f165ab
Renamed magnet_power_mode to magnet_mode
evaherrada Jul 24, 2020
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242 changes: 241 additions & 1 deletion adafruit_bno055.py
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Original file line number Diff line number Diff line change
Expand Up @@ -56,12 +56,71 @@
NDOF_FMC_OFF_MODE = const(0x0B)
NDOF_MODE = const(0x0C)

ACCEL_2G = const(0x00) # For accel_range property
ACCEL_4G = const(0x01) # Default
ACCEL_8G = const(0x02)
ACCEL_16G = const(0x03)
ACCEL_7_81HZ = const(0x00) # For accel_bandwidth property
ACCEL_15_63HZ = const(0x04)
ACCEL_31_25HZ = const(0x08)
ACCEL_62_5HZ = const(0x0C) # Default
ACCEL_125HZ = const(0x10)
ACCEL_250HZ = const(0x14)
ACCEL_500HZ = const(0x18)
ACCEL_1000HZ = const(0x1C)
ACCEL_NORMAL_MODE = const(0x00) # Default. For accel_mode property
ACCEL_SUSPEND_MODE = const(0x20)
ACCEL_LOWPOWER1_MODE = const(0x40)
ACCEL_STANDBY_MODE = const(0x60)
ACCEL_LOWPOWER2_MODE = const(0x80)
ACCEL_DEEPSUSPEND_MODE = const(0xA0)

GYRO_2000_DPS = const(0x00) # Default. For gyro_range property
GYRO_1000_DPS = const(0x01)
GYRO_500_DPS = const(0x02)
GYRO_250_DPS = const(0x03)
GYRO_125_DPS = const(0x04)
GYRO_523HZ = const(0x00) # For gyro_bandwidth property
GYRO_230HZ = const(0x08)
GYRO_116HZ = const(0x10)
GYRO_47HZ = const(0x18)
GYRO_23HZ = const(0x20)
GYRO_12HZ = const(0x28)
GYRO_64HZ = const(0x30)
GYRO_32HZ = const(0x38) # Default
GYRO_NORMAL_MODE = const(0x00) # Default. For gyro_mode property
GYRO_FASTPOWERUP_MODE = const(0x01)
GYRO_DEEPSUSPEND_MODE = const(0x02)
GYRO_SUSPEND_MODE = const(0x03)
GYRO_ADVANCEDPOWERSAVE_MODE = const(0x04)

MAGNET_2HZ = const(0x00) # For magnet_rate property
MAGNET_6HZ = const(0x01)
MAGNET_8HZ = const(0x02)
MAGNET_10HZ = const(0x03)
MAGNET_15HZ = const(0x04)
MAGNET_20HZ = const(0x05) # Default
MAGNET_25HZ = const(0x06)
MAGNET_30HZ = const(0x07)
MAGNET_LOWPOWER_MODE = const(0x00) # For magnet_operation_mode property
MAGNET_REGULAR_MODE = const(0x08) # Default
MAGNET_ENHANCEDREGULAR_MODE = const(0x10)
MAGNET_ACCURACY_MODE = const(0x18)
MAGNET_NORMAL_MODE = const(0x00) # for magnet_power_mode property
MAGNET_SLEEP_MODE = const(0x20)
MAGNET_SUSPEND_MODE = const(0x40)
MAGNET_FORCEMODE_MODE = const(0x60) # Default

_POWER_NORMAL = const(0x00)
_POWER_LOW = const(0x01)
_POWER_SUSPEND = const(0x02)

_MODE_REGISTER = const(0x3D)
_PAGE_REGISTER = const(0x07)
_ACCEL_CONFIG_REGISTER = const(0x08)
_MAGNET_CONFIG_REGISTER = const(0x09)
_GYRO_CONFIG_0_REGISTER = const(0x0A)
_GYRO_CONFIG_1_REGISTER = const(0x0B)
_CALIBRATION_REGISTER = const(0x35)
_OFFSET_ACCEL_REGISTER = const(0x55)
_OFFSET_MAGNET_REGISTER = const(0x5B)
Expand Down Expand Up @@ -113,7 +172,7 @@ def __set__(self, obj, value):
obj.mode = last_mode


class BNO055:
class BNO055: # pylint: disable=too-many-public-methods
"""
Base class for the BNO055 9DOF IMU sensor.
"""
Expand All @@ -126,6 +185,9 @@ def __init__(self):
self._write_register(_POWER_REGISTER, _POWER_NORMAL)
self._write_register(_PAGE_REGISTER, 0x00)
self._write_register(_TRIGGER_REGISTER, 0x00)
self.accel_range = ACCEL_4G
self.gyro_range = GYRO_2000_DPS
self.magnet_rate = MAGNET_20HZ
time.sleep(0.01)
self.mode = NDOF_MODE
time.sleep(0.01)
Expand Down Expand Up @@ -327,6 +389,184 @@ def gravity(self):
def _gravity(self):
raise NotImplementedError("Must be implemented.")

@property
def accel_range(self):
""" Switch the accelerometer range and return the new range. Default value: +/- 4g
See table 3-8 in the datasheet.
"""
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_ACCEL_CONFIG_REGISTER)
self._write_register(_PAGE_REGISTER, 0x00)
return 0b00000011 & value

@accel_range.setter
def accel_range(self, rng=ACCEL_4G):
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_ACCEL_CONFIG_REGISTER)
masked_value = 0b11111100 & value
self._write_register(_ACCEL_CONFIG_REGISTER, masked_value | rng)
self._write_register(_PAGE_REGISTER, 0x00)

@property
def accel_bandwidth(self):
""" Switch the accelerometer bandwidth and return the new bandwidth. Default value: 62.5 Hz
See table 3-8 in the datasheet.
"""
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_ACCEL_CONFIG_REGISTER)
self._write_register(_PAGE_REGISTER, 0x00)
return 0b00011100 & value

@accel_bandwidth.setter
def accel_bandwidth(self, bandwidth=ACCEL_62_5HZ):
if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
raise RuntimeError("Mode must not be a fusion mode")
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_ACCEL_CONFIG_REGISTER)
masked_value = 0b11100011 & value
self._write_register(_ACCEL_CONFIG_REGISTER, masked_value | bandwidth)
self._write_register(_PAGE_REGISTER, 0x00)

@property
def accel_mode(self):
""" Switch the accelerometer mode and return the new mode. Default value: Normal
See table 3-8 in the datasheet.
"""
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_ACCEL_CONFIG_REGISTER)
self._write_register(_PAGE_REGISTER, 0x00)
return 0b11100000 & value

@accel_mode.setter
def accel_mode(self, mode=ACCEL_NORMAL_MODE):
if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
raise RuntimeError("Mode must not be a fusion mode")
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_ACCEL_CONFIG_REGISTER)
masked_value = 0b00011111 & value
self._write_register(_ACCEL_CONFIG_REGISTER, masked_value | mode)
self._write_register(_PAGE_REGISTER, 0x00)

@property
def gyro_range(self):
""" Switch the gyroscope range and return the new range. Default value: 2000 dps
See table 3-9 in the datasheet.
"""
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_GYRO_CONFIG_0_REGISTER)
self._write_register(_PAGE_REGISTER, 0x00)
return 0b00000111 & value

@gyro_range.setter
def gyro_range(self, rng=GYRO_2000_DPS):
if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
raise RuntimeError("Mode must not be a fusion mode")
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_GYRO_CONFIG_0_REGISTER)
masked_value = 0b00111000 & value
self._write_register(_GYRO_CONFIG_0_REGISTER, masked_value | rng)
self._write_register(_PAGE_REGISTER, 0x00)

@property
def gyro_bandwidth(self):
""" Switch the gyroscope bandwidth and return the new bandwidth. Default value: 32 Hz
See table 3-9 in the datasheet.
"""
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_GYRO_CONFIG_0_REGISTER)
self._write_register(_PAGE_REGISTER, 0x00)
return 0b00111000 & value

@gyro_bandwidth.setter
def gyro_bandwidth(self, bandwidth=GYRO_32HZ):
if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
raise RuntimeError("Mode must not be a fusion mode")
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_GYRO_CONFIG_0_REGISTER)
masked_value = 0b00000111 & value
self._write_register(_GYRO_CONFIG_0_REGISTER, masked_value | bandwidth)
self._write_register(_PAGE_REGISTER, 0x00)

@property
def gyro_mode(self):
""" Switch the gyroscope mode and return the new mode. Default value: Normal
See table 3-9 in the datasheet.
"""
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_GYRO_CONFIG_1_REGISTER)
self._write_register(_PAGE_REGISTER, 0x00)
return 0b00000111 & value

@gyro_mode.setter
def gyro_mode(self, mode=GYRO_NORMAL_MODE):
if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
raise RuntimeError("Mode must not be a fusion mode")
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_GYRO_CONFIG_1_REGISTER)
masked_value = 0b00000000 & value
self._write_register(_GYRO_CONFIG_1_REGISTER, masked_value | mode)
self._write_register(_PAGE_REGISTER, 0x00)

@property
def magnet_rate(self):
""" Switch the magnetometer data output rate and return the new rate. Default value: 20Hz
See table 3-10 in the datasheet.
"""
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_MAGNET_CONFIG_REGISTER)
self._write_register(_PAGE_REGISTER, 0x00)
return 0b00000111 & value

@magnet_rate.setter
def magnet_rate(self, rate=MAGNET_20HZ):
if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
raise RuntimeError("Mode must not be a fusion mode")
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_MAGNET_CONFIG_REGISTER)
masked_value = 0b01111000 & value
self._write_register(_MAGNET_CONFIG_REGISTER, masked_value | rate)
self._write_register(_PAGE_REGISTER, 0x00)

@property
def magnet_operation_mode(self):
""" Switch the magnetometer operation mode and return the new mode. Default value: Regular
See table 3-10 in the datasheet.
"""
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_MAGNET_CONFIG_REGISTER)
self._write_register(_PAGE_REGISTER, 0x00)
return 0b00011000 & value

@magnet_operation_mode.setter
def magnet_operation_mode(self, mode=MAGNET_REGULAR_MODE):
if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
raise RuntimeError("Mode must not be a fusion mode")
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_MAGNET_CONFIG_REGISTER)
masked_value = 0b01100111 & value
self._write_register(_MAGNET_CONFIG_REGISTER, masked_value | mode)
self._write_register(_PAGE_REGISTER, 0x00)

@property
def magnet_power_mode(self):
""" Switch the magnetometer power mode and return the new mode. Default value: Forced
See table 3-10 in the datasheet.
"""
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_MAGNET_CONFIG_REGISTER)
self._write_register(_PAGE_REGISTER, 0x00)
return 0b01100000 & value

@magnet_power_mode.setter
def magnet_power_mode(self, mode=MAGNET_FORCEMODE_MODE):
if self.mode in [0x08, 0x09, 0x0A, 0x0B, 0x0C]:
raise RuntimeError("Mode must not be a fusion mode")
self._write_register(_PAGE_REGISTER, 0x01)
value = self._read_register(_MAGNET_CONFIG_REGISTER)
masked_value = 0b00011111 & value
self._write_register(_MAGNET_CONFIG_REGISTER, masked_value | mode)
self._write_register(_PAGE_REGISTER, 0x00)

def _write_register(self, register, value):
raise NotImplementedError("Must be implemented.")

Expand Down